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SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation

1 November 2024

Papers citing "SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation"

50 / 65 papers shown

Title
UniVLA: Learning to Act Anywhere with Task-centric Latent Actions Qingwen Bu Yanting Yang Jisong Cai Shenyuan Gao Guanghui Ren Maoqing Yao Ping Luo Hongyang Li 394 9 0 09 May 2025
PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking Xiatao Sun Yinxing Chen Daniel Rakita VGen 134 0 0 29 Apr 2025
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation Wenlong Huang Chen Wang Yongqian Li Ruohan Zhang Li Fei-Fei 121 115 0 03 Sep 2024
FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning Li-Heng Lin Yuchen Cui Amber Xie Tianyu Hua Dorsa Sadigh 86 10 0 29 Aug 2024
Flow as the Cross-Domain Manipulation Interface Mengda Xu Zhenjia Xu Yinghao Xu Cheng Chi Gordon Wetzstein Manuela Veloso Shuran Song AI4CE 123 46 0 21 Jul 2024
RVT-2: Learning Precise Manipulation from Few Demonstrations Ankit Goyal Valts Blukis Jie Xu Yijie Guo Yu-Wei Chao Dieter Fox 69 56 0 12 Jun 2024
Vision-based Manipulation from Single Human Video with Open-World Object Graphs Yifeng Zhu Arisrei Lim Peter Stone Yuke Zhu 87 38 0 30 May 2024
Track2Act: Predicting Point Tracks from Internet Videos enables Diverse Zero-shot Robot Manipulation Homanga Bharadhwaj Roozbeh Mottaghi Abhinav Gupta Shubham Tulsiani 3DPC 120 20 0 02 May 2024
Keypoint Action Tokens Enable In-Context Imitation Learning in Robotics Norman Di Palo Edward Johns 101 37 0 28 Mar 2024
DNAct: Diffusion Guided Multi-Task 3D Policy Learning Ge Yan Yueh-hua Wu Xiaolong Wang VGen 102 22 0 07 Mar 2024
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations Yanjie Ze Gu Zhang Kangning Zhang Chenyuan Hu Muhan Wang Huazhe Xu VGen 140 94 0 06 Mar 2024
DINOBot: Robot Manipulation via Retrieval and Alignment with Vision Foundation Models Norman Di Palo Edward Johns LM&Ro 84 29 0 20 Feb 2024
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations Tsung-Wei Ke N. Gkanatsios Katerina Fragkiadaki VGen 84 125 0 16 Feb 2024
YOLO-World: Real-Time Open-Vocabulary Object Detection Tianheng Cheng Lin Song Yixiao Ge Wenyu Liu Xinggang Wang Ying Shan VLM ObjD 96 290 0 30 Jan 2024
General Flow as Foundation Affordance for Scalable Robot Learning Chengbo Yuan Chuan Wen Tong Zhang Yang Gao AI4CE 88 38 0 21 Jan 2024
Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation Zipeng Fu Tony Zhao Chelsea Finn 197 328 0 04 Jan 2024
Any-point Trajectory Modeling for Policy Learning Chuan Wen Xingyu Lin John So Kai-xiang Chen Qi Dou Yang Gao Pieter Abbeel PINN VGen 109 98 0 28 Dec 2023
DUSt3R: Geometric 3D Vision Made Easy Shuzhe Wang Vincent Leroy Yohann Cabon Boris Chidlovskii Jérôme Revaud 3DGS 108 400 0 21 Dec 2023
FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects Bowen Wen Wei Yang Jan Kautz Stanley T. Birchfield 71 209 0 13 Dec 2023
SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimation Jiehong Lin Lihua Liu Dekun Lu Kui Jia VLM 81 69 0 27 Nov 2023
Learning Generalizable Manipulation Policies with Object-Centric 3D Representations Yifeng Zhu Zhenyu Jiang Peter Stone Yuke Zhu 3DPC 89 49 0 22 Oct 2023
One-Shot Imitation Learning: A Pose Estimation Perspective Pietro Vitiello Kamil Dreczkowski Edward Johns 81 19 0 18 Oct 2023
Learning to Act from Actionless Videos through Dense Correspondences Po-Chen Ko Jiayuan Mao Yilun Du Shao-Hua Sun Josh Tenenbaum 94 89 0 12 Oct 2023
RoboTAP: Tracking Arbitrary Points for Few-Shot Visual Imitation Mel Vecerík Carl Doersch Yi Yang Todor Davchev Y. Aytar Guangyao Zhou R. Hadsell Lourdes Agapito Jonathan Scholz 105 55 0 30 Aug 2023
CoTracker: It is Better to Track Together Nikita Karaev Ignacio Rocco Benjamin Graham Natalia Neverova Andrea Vedaldi Christian Rupprecht VOT ViT 113 270 0 14 Jul 2023
KITE: Keypoint-Conditioned Policies for Semantic Manipulation Priya Sundaresan Suneel Belkhale Dorsa Sadigh Jeannette Bohg LM&Ro 64 26 0 29 Jun 2023
RVT: Robotic View Transformer for 3D Object Manipulation Ankit Goyal Jie Xu Yijie Guo Valts Blukis Yu-Wei Chao Dieter Fox LM&Ro 111 140 0 26 Jun 2023
FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection Harry Zhang Ben Eisner David Held 3DPC 88 33 0 22 Jun 2023
Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface Rendering Snehal Jauhri Ishikaa Lunawat Georgia Chalvatzaki 91 10 0 12 Jun 2023
BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects Bowen Wen Jonathan Tremblay Valts Blukis Stephen Tyree Thomas Müller Alex Evans Dieter Fox Jan Kautz Stan Birchfield 3DH 146 137 0 24 Mar 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 349 1,231 0 07 Mar 2023
Learning Universal Policies via Text-Guided Video Generation Yilun Du Mengjiao Yang Bo Dai H. Dai Ofir Nachum J. Tenenbaum Dale Schuurmans Pieter Abbeel PINN LM&Ro 112 262 0 31 Jan 2023
ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds Daniel Seita Yufei Wang Sarthak J. Shetty Edward Li Zackory M. Erickson David Held 3DPC 87 52 0 16 Nov 2022
Neural Grasp Distance Fields for Robot Manipulation Thomas Weng David Held Franziska Meier Mustafa Mukadam 74 45 0 04 Nov 2022
VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors Yifeng Zhu Abhishek Joshi Peter Stone Yuke Zhu LM&Ro 69 134 0 20 Oct 2022
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Mohit Shridhar Lucas Manuelli Dieter Fox LM&Ro 260 501 0 12 Sep 2022
SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion Julen Urain Niklas Funk Jan Peters Georgia Chalvatzaki DiffM 142 127 0 08 Sep 2022
Human-to-Robot Imitation in the Wild Shikhar Bahl Abhi Gupta Deepak Pathak 97 173 0 19 Jul 2022
Video PreTraining (VPT): Learning to Act by Watching Unlabeled Online Videos Bowen Baker Ilge Akkaya Peter Zhokhov Joost Huizinga Jie Tang Adrien Ecoffet Brandon Houghton Raul Sampedro Jeff Clune OffRL 132 303 0 23 Jun 2022
Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning Hyunwoo Ryu Jeong-Hoon Lee Honglak Lee Jongeun Choi 92 57 0 16 Jun 2022
A Generalist Agent Scott E. Reed Konrad Zolna Emilio Parisotto Sergio Gomez Colmenarejo Alexander Novikov ... Yutian Chen R. Hadsell Oriol Vinyals Mahyar Bordbar Nando de Freitas LM&Ro LLMAG AI4CE 211 824 0 12 May 2022
Demonstrate Once, Imitate Immediately (DOME): Learning Visual Servoing for One-Shot Imitation Learning Eugene Valassakis Georgios Papagiannis Norman Di Palo Edward Johns 61 43 0 06 Apr 2022
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances Michael Ahn Anthony Brohan Noah Brown Yevgen Chebotar Omar Cortes ... Ted Xiao Peng Xu Sichun Xu Mengyuan Yan Andy Zeng LM&Ro 192 1,984 0 04 Apr 2022
R3M: A Universal Visual Representation for Robot Manipulation Suraj Nair Aravind Rajeswaran Vikash Kumar Chelsea Finn Abhi Gupta LM&Ro 101 587 0 23 Mar 2022
Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube Aravind Sivakumar Kenneth Shaw Deepak Pathak 166 104 0 21 Feb 2022
BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning Eric Jang A. Irpan Mohi Khansari Daniel Kappler F. Ebert Corey Lynch Sergey Levine Chelsea Finn LM&Ro 263 549 0 04 Feb 2022
Adversarial Imitation Learning from Video using a State Observer Haresh Karnan Garrett A. Warnell F. Torabi Peter Stone GAN 98 13 0 01 Feb 2022
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration Bowen Wen Wenzhao Lian Kostas Bekris S. Schaal 75 96 0 30 Jan 2022
Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning A. S. Morgan Kaiyu Hang Bowen Wen Kostas Bekris A. Dollar 44 64 0 20 Jan 2022
Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation Anthony Simeonov Yilun Du Andrea Tagliasacchi J. Tenenbaum Alberto Rodriguez Pulkit Agrawal Vincent Sitzmann 122 248 0 09 Dec 2021